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AC_Fence: Change the description to match the actual value(NFC)

This commit is contained in:
muramura 2023-08-19 03:30:22 +09:00 committed by Peter Barker
parent e1b991a84a
commit 78e9846f4e
1 changed files with 2 additions and 2 deletions
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4
libraries/AC_Fence/AC_Fence.cpp
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@ -35,7 +35,7 @@ extern const AP_HAL::HAL& hal;
#define AC_FENCE_MANUAL_RECOVERY_TIME_MIN 10000 // pilot has 10seconds to recover during which time the autopilot will not attempt to re-take control #define AC_FENCE_MANUAL_RECOVERY_TIME_MIN 10000 // pilot has 10seconds to recover during which time the autopilot will not attempt to re-take control
#if APM_BUILD_TYPE(APM_BUILD_ArduPlane) #if APM_BUILD_TYPE(APM_BUILD_ArduPlane)
#define AC_FENCE_CIRCLE_RADIUS_BACKUP_DISTANCE 100.0 // after fence is broken we recreate the fence 50m further out #define AC_FENCE_CIRCLE_RADIUS_BACKUP_DISTANCE 100.0 // after fence is broken we recreate the fence 100m further out
#else #else
#define AC_FENCE_CIRCLE_RADIUS_BACKUP_DISTANCE 20.0 // after fence is broken we recreate the fence 20m further out #define AC_FENCE_CIRCLE_RADIUS_BACKUP_DISTANCE 20.0 // after fence is broken we recreate the fence 20m further out
#endif #endif
@ -518,7 +518,7 @@ bool AC_Fence::check_fence_circle()
if (!(_breached_fences & AC_FENCE_TYPE_CIRCLE) || if (!(_breached_fences & AC_FENCE_TYPE_CIRCLE) ||
(!is_zero(_circle_radius_backup) && _home_distance >= _circle_radius_backup)) { (!is_zero(_circle_radius_backup) && _home_distance >= _circle_radius_backup)) {
// new breach // new breach
// create a backup fence 20m further out // create a backup fence 20m or 100m further out
record_breach(AC_FENCE_TYPE_CIRCLE); record_breach(AC_FENCE_TYPE_CIRCLE);
_circle_radius_backup = _home_distance + AC_FENCE_CIRCLE_RADIUS_BACKUP_DISTANCE; _circle_radius_backup = _home_distance + AC_FENCE_CIRCLE_RADIUS_BACKUP_DISTANCE;
return true; return true;